Lithographic apparatus, control system and device manufacturing method

ABSTRACT

An immersion lithographic apparatus is disclosed that has a measurement system or a prediction system for measuring and/or predicting, respectively, an effect associated with a temperature fluctuation of the immersion liquid, and a control system for controlling the or another effect associated with the temperature of the immersion liquid, on the basis of the measurement and/or prediction obtained by the measurement system and/or prediction system, respectively. An associated control system and device manufacturing method is also disclosed.

The present application is a continuation of U.S. patent application Ser. No. 11/373,493, filed on Mar. 13, 2006, now U.S. Pat. No. 8,045,134, now allowed, the entire contents of the foregoing application herein fully incorporated by reference.

FIELD

The present invention relates to a lithographic apparatus, a control system and a method for manufacturing a device.

BACKGROUND

A lithographic apparatus is a machine that applies a desired pattern onto a substrate, usually onto a target portion of the substrate. A lithographic apparatus can be used, for example, in the manufacture of integrated circuits (ICs). In that instance, a patterning device, which is alternatively referred to as a mask or a reticle, may be used to generate a circuit pattern to be formed on an individual layer of the IC. This pattern can be transferred onto a target portion (e.g. comprising part of one, or several dies) on a substrate (e.g. a silicon wafer). Transfer of the pattern is typically via imaging onto a layer of radiation-sensitive material (resist) provided on the substrate. In general, a single substrate will contain a network of adjacent target portions that are successively patterned. Known lithographic apparatus include so-called steppers, in which each target portion is irradiated by exposing an entire pattern onto the target portion at one time, and so-called scanners, in which each target portion is irradiated by scanning the pattern through a radiation beam in a given direction (the “scanning”-direction) while synchronously scanning the substrate parallel or anti-parallel to this direction. It is also possible to transfer the pattern from the patterning device to the substrate by imprinting the pattern onto the substrate.

In so called “immersion” lithography, the substrate is immersed in the lithographic projection apparatus in a liquid having a relatively high refractive index, an immersion liquid. For example, the immersion liquid may be water. The immersion liquid fills a space between the projection system and the substrate. In this way, imaging of smaller features is enabled because the exposure radiation has a shorter wavelength in the liquid.

Thus, immersion systems have water or another liquid between the projection system and the substrate during exposure instead of only air or other gas. This results in a direct and strong influence of a thermal variation of the liquid on imaging, since the refractive index of the liquid is a function of temperature. Also, because of strong thermal coupling of the immersion fluid temperature to the projection system, and in particular the optical element of the projection system closest to the substrate, any thermal variation of the liquid will likely have an effect on the imaging properties of the total projection system. Typical thermal control of the immersion liquid may not be good enough to be negligible in terms of focus and imaging related overlay (magnification and distortion). This may be an issue in particular, during scanning exposures where temperature cycles are observed for each substrate. Further, it may become progressively more difficult and more expensive to dynamically control the temperature of the liquid to the required degree with decreasing critical dimension (CD) of the structures being imaged.

SUMMARY

It is desirable to address one or more of those or other problems within an immersion lithographic system. In particular, it is desirable to provide an improved control of imaging quality in an immersion lithographic system, for example, by addressing an effect of one or more temperature variations in the system.

According to an aspect of the invention, there is provided a lithographic apparatus, comprising:

a substrate table constructed to hold a substrate;

a projection system configured to project a patterned radiation beam onto a target portion of the substrate;

a liquid supply system configured to fill a space between the projection system and the substrate with a liquid;

a measurement system, a prediction system, or both, configured to measure and/or predict, respectively, an effect associated with a temperature fluctuation of the liquid; and

a control system configured to control the or another effect associated with the temperature of the liquid, on the basis of a measurement and/or prediction obtained by the measurement system and/or prediction system, respectively.

According to an aspect of the invention, there is provided a lithographic projection apparatus arranged to project a pattern from a patterning device onto a substrate using a projection system, the apparatus comprising:

a liquid supply system for filling a space between the projection system and the substrate with a liquid;

a measurement system, a prediction system, or both, for measuring and/or predicting, respectively, an effect associated with a temperature fluctuation of the liquid; and

a control system for controlling the or another effect associated with the temperature of the liquid, on the basis of a measurement and/or prediction obtained by the measurement system and/or prediction system, respectively.

According to an aspect of the invention, there is provided a control system to control a lithographic apparatus, the control system configured to control an effect associated with a temperature fluctuation of an immersion liquid in a lithographic apparatus, on the basis of a measurement, a prediction, or both, obtained by, respectively, a measurement system, a prediction system, or both.

According to an aspect of the invention, there is provided a device manufacturing method, comprising:

projecting a patterned radiation beam, through a liquid, onto a substrate using a projection system;

measuring, predicting, or both, an effect associated with a temperature fluctuation of the liquid; and

controlling the or another effect associated with the temperature fluctuation of the liquid, on the basis of a measurement and/or prediction obtained by the measuring and/or predicting, respectively.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the invention will now be described, by way of example only, with reference to the accompanying schematic drawings in which corresponding reference symbols indicate corresponding parts, and in which:

FIG. 1 depicts a lithographic apparatus according to an embodiment of the invention;

FIG. 2 depicts details of a lithography apparatus as shown in FIG. 1 according to an embodiment of the invention;

FIG. 3 depicts details of a control system, measurement system and prediction system of the lithographic apparatus shown in FIG. 1 according to an embodiment of the invention; and

FIG. 4 shows a generic feedback scheme according to an embodiment of the invention.

DETAILED DESCRIPTION

FIG. 1 schematically depicts a lithographic apparatus according to one embodiment of the invention. The apparatus comprises:

an illumination system (illuminator) IL configured to condition a radiation beam B (e.g. UV radiation or EUV radiation).

a support structure (e.g. a mask table) MT constructed to support a patterning device (e.g. a mask) MA and connected to a first positioner PM configured to accurately position the patterning device in accordance with certain parameters;

a substrate table (e.g. a wafer table) WT constructed to hold a substrate (e.g. a resist-coated wafer) W and connected to a second positioner PW configured to accurately position the substrate in accordance with certain parameters; and

a projection system (e.g. a refractive projection lens system) PL configured to project a pattern imparted to the radiation beam B by patterning device MA onto a target portion C (e.g. comprising one or more dies) of the substrate W.

The illumination system may include various types of optical components, such as refractive, reflective, magnetic, electromagnetic, electrostatic or other types of optical components, or any combination thereof, for directing, shaping, or controlling radiation.

The support structure holds the patterning device in a manner that depends on the orientation of the patterning device, the design of the lithographic apparatus, and other conditions, such as for example whether or not the patterning device is held in a vacuum environment. The support structure can use mechanical, vacuum, electrostatic or other clamping techniques to hold the patterning device. The support structure may be a frame or a table, for example, which may be fixed or movable as required. The support structure may ensure that the patterning device is at a desired position, for example with respect to the projection system. Any use of the terms “reticle” or “mask” herein may be considered synonymous with the more general term “patterning device.”

The term “patterning device” used herein should be broadly interpreted as referring to any device that can be used to impart a radiation beam with a pattern in its cross-section such as to create a pattern in a target portion of the substrate. It should be noted that the pattern imparted to the radiation beam may not exactly correspond to the desired pattern in the target portion of the substrate, for example if the pattern includes phase-shifting features or so called assist features. Generally, the pattern imparted to the radiation beam will correspond to a particular functional layer in a device being created in the target portion, such as an integrated circuit.

The patterning device may be transmissive or reflective. Examples of patterning devices include masks, programmable mirror arrays, and programmable LCD panels. Masks are well known in lithography, and include mask types such as binary, alternating phase-shift, and attenuated phase-shift, as well as various hybrid mask types. An example of a programmable mirror array employs a matrix arrangement of small mirrors, each of which can be individually tilted so as to reflect an incoming radiation beam in different directions. The tilted mirrors impart a pattern in a radiation beam which is reflected by the mirror matrix.

The term “projection system” used herein should be broadly interpreted as encompassing any type of projection system, including refractive, reflective, catadioptric, magnetic, electromagnetic and electrostatic optical systems, or any combination thereof, as appropriate for the exposure radiation being used, or for other factors such as the use of an immersion liquid or the use of a vacuum. Any use of the term “projection lens” herein may be considered as synonymous with the more general term “projection system”.

As here depicted, the apparatus is of a transmissive type (e.g. employing a transmissive mask). Alternatively, the apparatus may be of a reflective type (e.g. employing a programmable mirror array of a type as referred to above, or employing a reflective mask).

The lithographic apparatus may be of a type having two (dual stage) or more substrate tables (and/or two or more support structures). In such “multiple stage” machines the additional tables may be used in parallel, or preparatory steps may be carried out on one or more tables while one or more other tables are being used for exposure.

The lithographic apparatus may also be of a type wherein at least a portion of the substrate may be covered by a liquid having a relatively high refractive index, e.g. water, so as to fill a space between the projection system and the substrate. An immersion liquid may also be applied to other spaces in the lithographic apparatus, for example, between the mask and the projection system. Immersion techniques are well known in the art for increasing the numerical aperture of projection systems. The term “immersion” as used herein does not mean that a structure, such as a substrate, must be submerged in liquid, but rather only means that liquid is located between the projection system and the substrate during exposure.

Referring to FIG. 1, the illuminator IL receives a radiation beam from a radiation source SO. The source and the lithographic apparatus may be separate entities, for example when the source is an excimer laser. In such cases, the source is not considered to form part of the lithographic apparatus and the radiation beam is passed from the source SO to the illuminator IL with the aid of a beam delivery system BD comprising, for example, suitable directing mirrors and/or a beam expander. In other cases the source may be an integral part of the lithographic apparatus, for example when the source is a mercury lamp. The source SO and the illuminator IL, together with the beam delivery system BD if required, may be referred to as a radiation system.

The illuminator IL may comprise an adjuster AD configured to adjust the angular intensity distribution of the radiation beam. Generally, at least the outer and/or inner radial extent (commonly referred to as σ-outer and σ-inner, respectively) of the intensity distribution in a pupil plane of the illuminator can be adjusted. In addition, the illuminator IL may comprise various other components, such as an integrator IN and a condenser CO. The illuminator may be used to condition the radiation beam, to have a desired uniformity and intensity distribution in its cross-section.

The radiation beam B is incident on the patterning device (e.g., mask) MA, which is held on the support structure (e.g., mask table) MT, and is patterned by the patterning device. Having traversed the patterning device MA, the radiation beam B passes through the projection system PL, which focuses the beam onto a target portion C of the substrate W. With the aid of the second positioner PW and position sensor IF (e.g. an interferometric device, linear encoder or capacitive sensor), the substrate table WT can be moved accurately, e.g. so as to position different target portions C in the path of the radiation beam B. Similarly, the first positioner PM and another position sensor (which is not explicitly depicted in FIG. 1) can be used to accurately position the patterning device MA with respect to the path of the radiation beam B, e.g. after mechanical retrieval from a mask library, or during a scan. In general, movement of the support structure MT may be realized with the aid of a long-stroke module (coarse positioning) and a short-stroke module (fine positioning), which form part of the first positioner PM. Similarly, movement of the substrate table WT may be realized using a long-stroke module and a short-stroke module, which form part of the second positioner PW. In the case of a stepper (as opposed to a scanner) the support structure MT may be connected to a short-stroke actuator only, or may be fixed. Patterning device MA and substrate W may be aligned using patterning device alignment marks M1, M2 and substrate alignment marks P1, P2. Although the substrate alignment marks as illustrated occupy dedicated target portions, they may be located in spaces between target portions (these are known as scribe-lane alignment marks). Similarly, in situations in which more than one die is provided on the patterning device MA, the patterning device alignment marks may be located between the dies.

The depicted apparatus could be used in at least one of the following modes:

1. In step mode, the support structure MT and the substrate table WT are kept essentially stationary, while an entire pattern imparted to the radiation beam is projected onto a target portion C at one time (i.e. a single static exposure). The substrate table WT is then shifted in the X and/or Y direction so that a different target portion C can be exposed. In step mode, the maximum size of the exposure field limits the size of the target portion C imaged in a single static exposure.

2. In scan mode, the support structure MT and the substrate table WT are scanned synchronously while a pattern imparted to the radiation beam is projected onto a target portion C (i.e. a single dynamic exposure). The velocity and direction of the substrate table WT relative to the support structure MT may be determined by the (de-)magnification and image reversal characteristics of the projection system PL. In scan mode, the maximum size of the exposure field limits the width (in the non-scanning direction) of the target portion in a single dynamic exposure, whereas the length of the scanning motion determines the height (in the scanning direction) of the target portion.

3. In another mode, the support structure MT is kept essentially stationary holding a programmable patterning device, and the substrate table WT is moved or scanned while a pattern imparted to the radiation beam is projected onto a target portion C. In this mode, generally a pulsed radiation source is employed and the programmable patterning device is updated as required after each movement of the substrate table WT or in between successive radiation pulses during a scan. This mode of operation can be readily applied to maskless lithography that utilizes programmable patterning device, such as a programmable mirror array of a type as referred to above.

Combinations and/or variations on the above described modes of use or entirely different modes of use may also be employed.

FIG. 2 depicts details of a lithography apparatus as shown in FIG. 1 according to an embodiment of the invention. FIG. 2 shows a substrate table WT constructed to hold a substrate W. A projection system PL is configured to project the patterned radiation beam onto a target portion of the substrate W. An immersion liquid supply system LSS is configured to fill a space 10 between the projection system PL and the substrate W with an immersion liquid. The apparatus further comprises a measurement system MS and/or a prediction system PS (see, for example, FIG. 3) configured to measure and/or predict, respectively, one or more variations in the immersion liquid temperature. The apparatus may further comprise a control system CS configured to control the temperature of the immersion liquid, an associated effect of the one or more variations of the immersion liquid temperature, or both, on the basis of a measurement and/or prediction obtained by measurement system MS and/or prediction system PS, respectively. The measurement system MS comprises one or more sensors including temperature sensors 12 a, b, c and an optical sensor 22. The sensors are configured to detect conditions in the apparatus, such as the temperature of the immersion liquid, an optical characteristic of the radiation beam, etc. Based on the sensed parameter, the control system (described with reference to FIG. 3) is configured to provide a feedback control signal, a feedforward control signal or both to control a characteristic in the apparatus, such as the temperature of the immersion liquid or to correct for a sensed characteristic. In this way, a versatile control is achieved, whereby a correction for both small and large variations may be accounted for in an appropriate manner. For example, a small temperature fluctuation may be swiftly corrected for by, for example, adjusting an optical element (e.g., a lens) in the projection system using a feedback control.

In one embodiment, the measurement system MS comprises a temperature sensor 12 a to measure a temperature of the immersion liquid in the space 10. The temperature sensor 12 a may be disposed in or near an exposure area and is configured to measure the temperature of the liquid. Subsequently, feedback control may be used to stabilize the temperature of the liquid. In this way, a relatively large temperature drift may be corrected for and a substantially constant immersion liquid temperature may be achieved. The feedback control signal is fed to a thermal conditioning unit 14 a, 14 b, which is configured to thermally condition the liquid, for example, by appropriate heating or cooling in accordance with the feedback control signal. For example, if the temperature sensor 12 a detects that the temperature is above a certain level, the feedback control signal to the thermal conditioning unit 14 a, 14 b will control the thermal conditioning unit to cool the immersion liquid a certain amount. The thermal conditioning unit 14 a, 14 b may be located in the liquid supply system LSS. For example, it may be located in a liquid storage 40 from which the liquid is supplied to the space 10. Alternatively, or in addition, a thermal conditioning unit 14 b may be located in or in the vicinity of the space 10. Alternatively, or in addition, to providing a feedback control signal to the thermal conditioning unit 14 a, 14 b, the control system CS may be configured to provide a feedback control signal to a substrate table positioning system 16, which may include a motor M to adjust the position of the substrate table WT, and/or an optical element adjustment system 20 configured to adjust the position of an optical element 18. For example, the optical element adjustment system 20 may be configured to move the optical element 18 in at least one of an X, Y, Z and tilt direction. Further, the control system may be configured to provide a feedback control signal to a tuner TU comprised in the source SO (see, for example, FIG. 1) to adjust the wavelength of the radiation beam B on the basis of a sensed parameter. By adjusting parameters such as the position of one or more lithographic apparatus components and/or wavelength of the beam, a temperature effect or an optical aberration (as described hereinbelow) may be compensated or corrected for quickly. Such adjustment may be particularly suited, for example, to take into account a relatively small variation of temperature.

In a further embodiment, a temperature sensor 12 b, 12 c may be disposed down stream of an exposure location 11. The liquid supply system LSS may comprise an outlet OUT through which the immersion liquid may flow downstream from the space 10 between the projection system PL and the substrate W. The measuring system MS may further comprise a sensor 12 b, 12 c located in the flow downstream of the space 10 to measure a temperature of the immersion liquid downstream of the space 10. In this way, volume conflicts within the confined area in and around an exposure location 11 where exposure takes place, may be avoided.

In a further embodiment, the measurement system may comprise an optical sensor 22 configured to sense one or more optical characteristics of a beam of radiation, such as the patterned radiation beam, passing through the projection system. By sensing one or more optical characteristics of the radiation beam, an aberration which may result from temperature variation in the immersion liquid or elsewhere may be taken into account. In such an embodiment, the control system CS is configured to provide a feedback control signal to a thermal conditioning system 14, a substrate table positioning system 16, an optical element adjustment system 20 and/or a tuner TU, to correct for the aberration on the basis of the sensed one or more optical characteristics. Thus, in addition, or alternatively, to measuring a temperature in the lithographic apparatus, an optical effect may be measured, and a correction may be provided on the basis of the measured optical effect.

The optical sensor 22 may be a continuous focus measurement sensor and/or a magnification sensor and/or an aberration measurement device. Further, the continuous focus measurement sensor 22 may be an external sensor or a through an optical element focus sensor configured to sense a focus through one or more optical elements 18 in the projection system PL. In one embodiment, a continuous focus measurement focus and/or magnification is used. Subsequently, the temperature of the liquid is corrected and/or the imaging effect is corrected by adjusting the substrate table position, an optical element position and/or a wavelength of the radiation beam B. The focus measurement may be either external, for example, a oblique beam level sensor, or through an optical element measurement. In a further embodiment, a through an optical element focus sensor, for example, a transmission image sensor (TIS) and/or an inline interferometer (e.g., a projection system lens interferometer integrated in the lithographic apparatus such as the ASML ILIAS™ system) may be used to periodically measure a focus effect of temperature fluctuation between die exposures and use feedback control as described above. In particular, the optical sensor 22 may be configured to periodically measure a focus effect of a temperature fluctuation in the immersion liquid in between exposures.

In a yet further embodiment, a prediction system PS, described in more detail with respect to FIG. 3, may be used. In such an embodiment, the cyclical substrate to substrate behavior may be used to provide a model for providing feedforward correction to a liquid temperature, a substrate table position, an optical element position and/or a wavelength of the radiation beam. In this way, the predicted behavior of one or more components of the apparatus, for example, the predicted optical element heating behavior can be corrected for by using a model. In this way, an error associated with measuring one or more parameters may be avoided. Further, by using a feedforward control signal any effect may be corrected for more quickly since there is no delay between making a measurement and providing a control signal on the basis of the measurement, as is the case with feedback control.

In one embodiment, both feedback and feedforward control may be used. In this way, a balance is achieved. A fast correction may be achieved with a feedforward control, yet an accurate control may be achieved using feedback control, which is not dependent on the accuracy of a modeled behavior but rather uses measured results.

FIG. 3 depicts details of a control system, measurement system and prediction system of the lithographic apparatus shown in FIG. 1 according to an embodiment of the invention. In particular, FIG. 3 depicts a measurement system MS. The measurement system may comprise one or more sensors 12, 22 configured to measure a parameter. For example, one or more temperature sensors 12 a, b, c may be provided to measure the temperature of the immersion liquid. Further, one or more optical sensors 22 may be provided to measure an optical characteristic, such as focus and/or magnification. In particular, the measurement system MS may be configured to measure an optical effect of the projection system PL. A prediction system PS may also or alternatively be provided. The prediction system PS may comprise a modeling system 26 configured to provide a model 28 of a thermal effect over the substrate W. Input data 24 relating to known behavior of the substrate is input to the modeling system 26. On the basis of the input data 24, a model 28 of the behavior of the substrate W is formed.

The output of the measurement system MS and/or the prediction system PS is fed to a control system CS. The control system is configured to provide a feedback control 34 a, b, c, d on the basis of the measurement obtained by the measurement system MS. Alternatively or in addition, the control system is configured to provide a feedforward control 36 a, b, c, d on the basis of the prediction obtained by the prediction system PS. The control system CS may comprise a data processor 30 to process data input to the control system CS and a data storage unit 32 to store such data.

In particular, on the basis of the data provided to the control system CS by the measurement system MS, the control system CS is arranged to provide at least one feedback control signal 34 a, b, c, d, to at least one apparatus component, respectively. For example, a feedback control signal may be provided to adjust an optical element 18 in the projection system via an optical element adjustment system 20, a wavelength of the radiation beam via a tuner TU, a position of the substrate table via a substrate table positioning system 16, M, and/or a temperature of the immersion liquid via the thermal conditioning system 14, on the basis of the measured optical effect and/or the temperature of the immersion liquid. In particular, feedback control signal 34 a provides feedback control to the thermal conditioning system 14, feedback control signal 34 b provides feedback control to the motor M of the substrate table positioning system 16, feedback control signal 34 c provides feedback control to the optical element adjustment system 20 and feedback control signal 34 d provides feedback control to the tuner TU of the source SO to adjust the wavelength of the radiation beam. In one or more embodiments, where an optical effect is measured, feedback control is provided to adjust the optical element, the wavelength, the substrate table position and/or the temperature of the immersion liquid in response to the measured optical effect using feedback control. An advantage of such a control is that it can be very fast. As mentioned, the control system CS may be arranged to provide a feedback control signal 34 a on the basis of the temperature sensed in the space 10 to control the temperature of the immersion liquid to reduce or minimize a temperature fluctuation of the immersion liquid in the space 10. In this way, feedback control may be used to correct for relatively large fluctuations. By using a combination of feedback control, i.e. by using feedback control to adjust one or more components of the apparatus, such as the position of the substrate table, etc., and feedback control to correct for a large temperature fluctuation by providing a feedback control signal 34 a to the immersion liquid, both drift (large) and small effects may be compensated for effectively.

In one embodiment, the control system CS may be arranged to provide a feedback control signal 34 b, c, d on the basis of the temperature sensed in the space 10 by sensor 12 a to correct for an associated imaging effect by providing a feedback control signal 34 b, c, d to an adjustment element 16, 20, TU configured to adjust a position of the substrate table 16, a position of one or more optical elements 18, 20 in the projection system PL and/or a wavelength of the radiation beam B using, for example, a tuner TU. Further, the control system CS may be arranged to provide a feedback control signal 34 a to control a temperature of the immersion liquid in the space 10 between the projection system PL and the substrate W on the basis of the temperature sensed downstream of the space by sensor 12 b, c. Further, the control system CS may be arranged to provide a feedback control signal 34 b, c, d on the basis of the temperature sensed downstream of the space 10 by sensor 12 b, c to correct for an associated imaging effect by providing a feedback control signal 34 b, c, d to an adjustment element 16, 20, TU configured to adjust a position of the substrate table WT, a position of one or more optical elements 18, 20 in the projection system PL, and/or a wavelength of the radiation beam B using, for example, tuner TU. Further, the control system CS may be arranged to provide a feedback control signal 34 a to control a temperature of the immersion liquid in the space 10 between the projection system PL and the substrate W on the basis of the optical characteristic sensed by the optical sensor 22. In particular, the control system CS may be arranged to provide a feedback control signal 34 b, c, d on the basis of one or more optical characteristic sensed by the optical sensor 22 to correct for an associated imaging effect by providing a feedback control signal 34 b, c, d to an adjustment element 16, 20, TU configured to adjust a position of the substrate table WT, a position of one or more optical elements 18, 20 in the projection system and/or a wavelength of the radiation beam B using, for example, a tuner TU.

With respect to the prediction system PS, the control system CS may use the model 28 to correct for an thermal effect using feedforward control. The feedforward control signal 36 a, b, c, d may include a feedforward control 36 a to the thermal conditioning system 14, a feedforward control signal 36 b to the substrate table positioning system 16, M, a feedforward control signal 36 c to the optical element adjustment system 20, and/or a feedforward control signal 36 d to a component, such as tuner TU to adjust the wavelength of the radiation beam B. The adjustment elements and conditioning system respond to the feedforward control signal or signals 36 a, b, c, d in the same way as they would as described with reference to the feedback control signals 34 a, b, c, d.

As mentioned above, the control system may provide a combination of control signals based on both feedback and feedforward control. While FIG. 2 shows the feedforward control signals and feedback control signals as separate entities, the control system CS may be arranged to provide a control signal including a combination of feedback and feedforward control. In particular, the control system may provide a single control signal including a plurality of feedback and feedforward control components. Further, the control system CS may be arranged to provide control signals to one or more of the adjustment or conditioning systems.

In one embodiment, there is provided a lithographic projection apparatus arranged to project a pattern from a patterning device onto a substrate W. The apparatus may comprise an immersion liquid supply LSS system configured to fill a space 10 between the projection apparatus PL and the substrate W with an immersion liquid. The apparatus may further comprise a measurement system MS and/or a prediction system PS to measure and/or predict, respectively, one or more variations in the immersion liquid temperature. The apparatus may further comprise a control system CS to control the temperature of the immersion liquid and/or an associated effect of a variation of the immersion liquid temperature, on the basis of a measurement and/or prediction obtained by the measurement system MS and/or the prediction system PS, respectively.

In a further embodiment, there is provided a control system CS to control a lithographic apparatus, the control system CS configured to control a temperature of an immersion liquid and/or an associated effect of a variation of the immersion liquid temperature, on the basis of a measurement and/or prediction obtained by a measurement system MS and/or a prediction system PS, respectively.

In a yet further embodiment, there is provided a device manufacturing method comprising projecting a patterned radiation beam, through a liquid, onto a target portion of a substrate using a projection system, measuring and/or predicting one or more variations in the immersion liquid temperature, and controlling the temperature of the immersion liquid and/or an associated effect of the one or more variations of the immersion liquid temperature, on the basis of a measurement and/or prediction obtained by the measuring and/or predicting, respectively.

FIG. 4 shows a generic feedback scheme according to an embodiment of the invention. In particular, FIG. 4 shows an error with respect to the real optical element (e.g. lens) heating effect, where a feedback measurement is triggered when the correction by the feedforward model exceeds a certain control limit, which is determined by the accuracy of the feedforward model. Thus, a very accurate feedforward control (which also implies that all relevant parameters are accurately known to the feedforward model) requires only a few feedback measurements, while a less accurate feedforward control requires frequent feedback measurements in order to stay within the control limit.

In an embodiment, there is provided a lithographic apparatus, comprising: a substrate table constructed to hold a substrate; a projection system configured to project a patterned radiation beam onto a target portion of the substrate; a liquid supply system configured to fill a space between the projection system and the substrate with a liquid; a measurement system, a prediction system, or both, configured to measure and/or predict, respectively, an effect associated with a temperature fluctuation of the liquid; and a control system configured to control the or another effect associated with the temperature of the liquid, on the basis of a measurement and/or prediction obtained by the measurement system and/or prediction system, respectively.

In an embodiment, the control system is configured to provide a feedback control on the basis of the measurement obtained by the measurement system. In an embodiment, the measurement system is arranged to measure an optical effect of the projection system and the control system is arranged to adjust, on the basis of the measured optical effect, (i) an element in the projection system, (ii) a wavelength of the radiation beam, (iii) a position of the substrate table, (iv) a temperature of the liquid, or (v) any combination of (i)-(iv). In an embodiment, the control system is configured to provide a feedforward control on the basis of the prediction obtained by the prediction system. In an embodiment, the prediction system comprises a modeling system configured to provide a model of a thermal effect over the substrate. In an embodiment, the control system is configured to use the model to correct for the thermal effect using feedforward control. In an embodiment, the measurement system comprises a temperature sensor configured to measure a temperature of the liquid and wherein the control system is configured to provide a feedback control signal to the apparatus on the basis of the temperature sensed by the temperature sensor. In an embodiment, the feedback control signal is provided to (i) a thermal conditioning system, (ii) a substrate table positioning system, (iii) an optical element positioning system, wherein the optical element is comprised in the projection system, (iv) a system configured to adjust a wavelength of the radiation beam, or (v) any combination of (i)-(iv). In an embodiment, the control system is arranged to provide a feedback control signal on the basis of a temperature sensed in the space to control the temperature of the liquid to minimize a temperature fluctuation of the liquid in the space. In an embodiment, the control system is arranged to provide a feedback control signal on the basis of a temperature sensed in the space to correct for an associated imaging effect by providing a feedback control signal to an adjustment element configured to adjust (i) a position of the substrate table, (ii) a position of one or more optical elements in the projection system, (iii) a wavelength of the radiation beam, or (iv) any combination of (i)-(iii). In an embodiment, the apparatus further comprises an outlet, through which the liquid can flow, downstream from the space between the projection system and the substrate, and wherein the measuring system further comprises a sensor located in the flow downstream of the space to measure a temperature of the liquid downstream of the space. In an embodiment, the control system is arranged to provide feedback control to control a temperature of the liquid in the space between the projection system and the substrate on the basis of the temperature sensed downstream of the space. In an embodiment, the control system is arranged to provide a feedback control signal on the basis of the temperature sensed downstream of the space to correct for an associated imaging effect by providing a feedback control signal to an adjustment element configured to adjust (i) a position of the substrate table, (ii) a position of one or more optical elements in the projection system, (iii) a wavelength of the radiation beam, or (iv) any combination of (i)-(iii). In an embodiment, the measurement system further comprises an optical sensor configured to sense an optical characteristic of the radiation beam. In an embodiment, the optical sensor is a continuous focus measurement sensor, a magnification sensor, an aberration measurement device, or any combination of the foregoing. In an embodiment, the control system is arranged to provide feedback control to control a temperature of the liquid in the space between the projection system and the substrate on the basis of the optical characteristic sensed by the optical sensor. In an embodiment, the control system is arranged to provide a feedback control signal on the basis of the optical characteristic sensed by the optical sensor to correct for an associated imaging effect by providing a feedback control signal to an adjustment element configured to adjust (i) a position of the substrate table, (ii) a position of one or more optical elements in the projection system, (iii) a wavelength of the radiation beam, or (iv) any combination of (i)-(iii). In an embodiment, the continuous focus measurement sensor is an external sensor or a through the optical element focus sensor configured to sense a focus through one or more optical elements in the projection system. In an embodiment, the optical sensor is configured to periodically measure a focus effect of a temperature fluctuation in the liquid between exposures.

In an embodiment, there is provided a lithographic projection apparatus arranged to project a pattern from a patterning device onto a substrate using a projection system, the apparatus comprising: a liquid supply system for filling a space between the projection system and the substrate with a liquid; a measurement system, a prediction system, or both, for measuring and/or predicting, respectively, an effect associated with a temperature fluctuation of the liquid; and a control system for controlling the or another effect associated with the temperature of the liquid, on the basis of a measurement and/or prediction obtained by the measurement system and/or prediction system, respectively.

In an embodiment, there is provided a control system to control a lithographic apparatus, the control system configured to control an effect associated with a temperature fluctuation of an immersion liquid in a lithographic apparatus, on the basis of a measurement, a prediction, or both, obtained by, respectively, a measurement system, a prediction system, or both.

In an embodiment, there is provided a device manufacturing method, comprising: projecting a patterned radiation beam, through a liquid, onto a substrate using a projection system; measuring, predicting, or both, an effect associated with a temperature fluctuation of the liquid; and controlling the or another effect associated with the temperature fluctuation of the liquid, on the basis of a measurement and/or prediction obtained by the measuring and/or predicting, respectively.

Although specific reference may be made in this text to the use of lithographic apparatus in the manufacture of ICs, it should be understood that the lithographic apparatus described herein may have other applications, such as the manufacture of integrated optical systems, guidance and detection patterns for magnetic domain memories, flat-panel displays, liquid-crystal displays (LCDs), thin-film magnetic heads, etc. The skilled artisan will appreciate that, in the context of such alternative applications, any use of the terms “wafer” or “die” herein may be considered as synonymous with the more general terms “substrate” or “target portion”, respectively. The substrate referred to herein may be processed, before or after exposure, in for example a track (a tool that typically applies a layer of resist to a substrate and develops the exposed resist), a metrology tool and/or an inspection tool. Where applicable, the disclosure herein may be applied to such and other substrate processing tools. Further, the substrate may be processed more than once, for example in order to create a multi-layer IC, so that the term substrate used herein may also refer to a substrate that already contains multiple processed layers.

Although specific reference may have been made above to the use of embodiments of the invention in the context of optical lithography, it will be appreciated that the invention may be used in other applications, for example imprint lithography, and where the context allows, is not limited to optical lithography. In imprint lithography a topography in a patterning device defines the pattern created on a substrate. The topography of the patterning device may be pressed into a layer of resist supplied to the substrate whereupon the resist is cured by applying electromagnetic radiation, heat, pressure or a combination thereof The patterning device is moved out of the resist leaving a pattern in it after the resist is cured.

The terms “radiation” and “beam” used herein encompass all types of electromagnetic radiation, including ultraviolet (UV) radiation (e.g. having a wavelength of or about 365, 355, 248, 193, 157 or 126 nm) and extreme ultra-violet (EUV) radiation (e.g. having a wavelength in the range of 5-20 nm), as well as particle beams, such as ion beams or electron beams.

The term “lens”, where the context allows, may refer to any one or combination of various types of optical components, including refractive, reflective, magnetic, electromagnetic and electrostatic optical components.

One or more embodiments of the invention may be applied to any immersion lithography apparatus, in particular, but not exclusively, those types mentioned above and whether the immersion liquid is provided in the form of a bath or only on a localized surface area of the substrate. A liquid supply system as contemplated herein should be broadly construed. In certain embodiments, it may be a mechanism or combination of structures that provides a liquid to a space between the projection system and the substrate and/or substrate table. It may comprise a combination of one or more structures, one or more liquid inlets, one or more gas inlets, one or more gas outlets, and/or one or more liquid outlets that provide liquid to the space. In an embodiment, a surface of the space may be a portion of the substrate and/or substrate table, or a surface of the space may completely cover a surface of the substrate and/or substrate table, or the space may envelop the substrate and/or substrate table. The liquid supply system may optionally further include one or more elements to control the position, quantity, quality, shape, flow rate or any other features of the liquid.

The immersion liquid used in the apparatus may have different compositions, according to the desired properties and the wavelength of exposure radiation used. For an exposure wavelength of 193 nm, ultra pure water or water-based compositions may be used and for this reason the immersion liquid is sometimes referred to as water and water-related terms such as hydrophilic, hydrophobic, humidity, etc. may be used.

While specific embodiments of the invention have been described above, it will be appreciated that the invention may be practiced otherwise than as described. For example, the invention may take the form of a computer program containing one or more sequences of machine-readable instructions describing a method as disclosed above, or a data storage medium (e.g. semiconductor memory, magnetic or optical disk) having such a computer program stored therein.

The descriptions above are intended to be illustrative, not limiting. Thus, it will be apparent to one skilled in the art that modifications may be made to the invention as described without departing from the scope of the claims set out below. 

The invention claimed is:
 1. A lithographic apparatus arranged to project a pattern from a patterning device onto a substrate using a projection system, the apparatus comprising: a liquid supply system configured to provide a space between the projection system and the substrate with a liquid; a measurement system configured to measure an effect associated with a temperature fluctuation of the liquid; a prediction system configured to predict an effect associated with a temperature fluctuation of the liquid, the prediction system comprising a model system configured to predict a variation in the temperature of the liquid; and a control system configured to adjust a parameter of the lithographic apparatus to control the effect measured by the measurement system and/or the effect predicted by the prediction system or another effect associated with the temperature of the liquid, on the basis of a prediction obtained by the prediction system and a measurement obtained by the measurement system, wherein the control system is configured to provide a feedforward control on the basis of the prediction obtained by the prediction system and to trigger a feedback measurement when the feedforward control exceeds a limit.
 2. The apparatus of claim 1, wherein the control system is configured to provide a feedback control on the basis of the measurement obtained by the measurement system.
 3. The apparatus of claim 1, wherein the measurement system comprises an optical sensor configured to sense an optical characteristic of a radiation beam and the control system is arranged to adjust, on the basis of the sensed optical characteristic, a component of the lithographic apparatus.
 4. The apparatus of claim 3, wherein the optical sensor is a continuous focus measurement sensor, a magnification sensor, an aberration measurement device, or any combination selected from the foregoing.
 5. The apparatus of claim 3, wherein the control system is arranged to provide a feedback control signal on the basis of the optical characteristic sensed by the optical sensor to correct for an associated imaging effect by providing a control signal to an adjustment element configured to adjust (i) a position of the substrate, (ii) a position of one or more optical elements in the projection system, (iii) a wavelength of the radiation beam, or (iv) any combination selected from (i)-(iii).
 6. The apparatus of claim 3, wherein the optical sensor is configured to periodically measure a focus effect of a temperature fluctuation in the liquid between exposures.
 7. The apparatus of claim 3, wherein the control system is arranged to provide feedback control to control a temperature of the liquid in the space between the projection system and the substrate on the basis of the optical characteristic sensed by the optical sensor.
 8. The apparatus of claim 3, wherein the control system is arranged to adjust, on the basis of the sensed optical characteristic, (i) an element in the projection system, (ii) a wavelength of a radiation beam, (iii) a position of the substrate, (iv) a temperature of the liquid, or (v) any combination selected from (i)-(iv).
 9. The apparatus of claim 1, wherein the control system is configured to provide a feedforward control to adjust (i) an element in the projection system (ii) a wavelength of a radiation beam, (iii) a position of the substrate, (iv) a temperature of the liquid, or (v) any combination selected from (i)-(iv).
 10. The apparatus of claim 1, wherein the measurement system comprises a temperature sensor configured to measure a temperature of the liquid and wherein the control system is configured to provide a control signal to a component of the lithographic apparatus on the basis of the temperature sensed by the temperature sensor.
 11. The apparatus of claim 10, wherein the control system is arranged to provide a control signal on the basis of a temperature sensed in the space to correct for an associated imaging effect by providing a control signal to an adjustment element configured to adjust (i) a position of the substrate, (ii) a position of one or more optical elements in the projection system, (iii) a wavelength of a radiation beam, or (iv) any combination selected from (i)-(iii).
 12. The apparatus of claim 1, wherein the parameter is a parameter of (i) a thermal conditioning system, (ii) a substrate table positioning system, (iii) an optical element positioning system, wherein the optical element is comprised in the projection system, (iv) a system configured to adjust a wavelength of a radiation beam, or (v) any combination selected from (i)-(iv).
 13. The apparatus of claim 1, further comprising an outlet, through which the liquid can flow, downstream from the space between the projection system and the substrate, and wherein the measurement system comprises a sensor located in the flow downstream of the space to measure a temperature of the liquid downstream of the space.
 14. The apparatus of claim 13, wherein the control system is arranged to control a thermal conditioning system to adjust a temperature of the liquid in the space between the projection system and the substrate, on the basis of the temperature sensed downstream of the space.
 15. The apparatus of claim 13, wherein the control system is arranged to provide a control signal on the basis of the temperature sensed downstream of the space to correct for an associated imaging effect by providing a control signal to an adjustment element configured to adjust (i) a position of the substrate, (ii) a position of one or more optical elements in the projection system, (iii) a wavelength of a radiation beam, or (iv) any combination selected from (i)-(iii).
 16. The apparatus of claim 1, wherein the control system is arranged to adjust, on the basis of the prediction and the measurement, the parameter of an element in the projection system.
 17. The apparatus of claim 1, wherein the control system is arranged to adjust, on the basis of the prediction and the measurement, the parameter of a substrate table positioning system configured to adjust a position of the substrate table.
 18. The apparatus of claim 1, wherein the model system provides a model of a thermal effect for exposure regions, during exposure through the liquid, over the surface of the substrate, the model based on data of one or more previous, processed substrates in the lithographic apparatus.
 19. A device manufacturing method, comprising: projecting a patterned radiation beam, through a liquid, onto a substrate using a projection system of a lithographic apparatus; measuring a variation in the temperature of the liquid; predicting a variation in the temperature of the liquid using a modelling system; and adjusting a parameter of the lithographic apparatus to control an effect associated with temperature variation of the liquid based on the measured and predicted variations in the temperature, wherein feedforward control is provided based on the predicted variation in the temperature and triggering a feedback measurement when the control based on the predicted variation exceeds a limit.
 20. The method of claim 19, wherein the parameter is that of an element of the projection system and/or of a substrate positioning system.
 21. A control apparatus configured to control a lithographic apparatus, the control apparatus comprising: a measurement system configured to measure an effect associated with a temperature fluctuation of a liquid filling a space between a projection system of the lithographic apparatus and a substrate; a prediction system, including a modelling system configured to predict a variation in the temperature of the liquid to obtain a prediction; a control system configured to control an effect associated with a temperature fluctuation of the liquid on the basis of the prediction and a measurement obtained by the measurement system, the control system being configured to provide a feedforward control on the basis of the prediction obtained by the prediction system and to trigger a feedback measurement when the feedforward control exceeds a limit. 